OpenRaiser/Intern-Atlas huggingface dataset:
Learning Quadrotor Control From Visual Features Using Differentiable Simulation
Venue: arXiv cs.RO 2026
Year: 2026

The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slowing research and innovation. This issue is particularly pronounced in vision-based control tasks where reliable state estimates are not accessible. Differentiable simulation offers an alternative by enabling gradient back-propagation through the dynamics model, providing low-variance analytical policy gradients and, hence, higher sample efficiency. However, its usage for real-world robotic tasks has yet been limited. This work demonstrates the great potential of differentiable simulation for learning quadrotor control. We show that training in differentiable simulation significantly outperforms model-free RL in terms of both sample efficiency and training time, allowing a policy to learn to recover a quadrotor in seconds when providing vehicle states and in minutes when relying solely on visual features. The key to our success is two-fold. First, the use of a simple surrogate model for gradient computation greatly accelerates training without sacrificing control performance. Second, combining state representation learning with policy learning enhances convergence speed in tasks where only visual features are observable. These findings highlight the potential of differentiable simulation for real-world robotics and offer a compelling alternative to conventional RL approaches.
Integer Factorization via Tensor Network Schnorr's Sieving
Venue: arXiv cs.CR 2026
Year: 2026

Classical public-key cryptography standards rely on the Rivest-Shamir-Adleman (RSA) encryption protocol. The security of this protocol is based on the exponential computational complexity of the most efficient classical algorithms for factoring large semiprime numbers into their two prime components. Here, we address RSA factorization building on Schnorr's mathematical framework where factorization translates into a combinatorial optimization problem. We solve the optimization task via tensor network methods, a quantum-inspired classical numerical technique. This tensor network Schnorr's sieving algorithm displays numerical evidence of polynomial scaling of resources with the bit-length of the semiprime. We factorize RSA numbers up to 100 bits and assess how computational resources scale through numerical simulations up to 130 bits, encoding the optimization problem in quantum systems with up to 256 qubits. Only the high-order polynomial scaling of the required resources limits the factorization of larger numbers. Although these results do not currently undermine the security of the present communication infrastructure, they strongly highlight the urgency of implementing post-quantum cryptography or quantum key distribution.
Scaling Knowledge Graph Construction through Synthetic Data Generation and Distillation
Venue: arXiv cs.CL 2026
Year: 2026

Document-level knowledge graph (KG) construction faces a fundamental scaling challenge: existing methods either rely on expensive large language models (LLMs), making them economically nonviable for large-scale corpora, or employ smaller models that produce incomplete and inconsistent graphs. We find that this limitation stems not from model capabilities but from insufficient training on high-quality document-level KG data. To address this gap, we introduce SynthKG, a multi-step data synthesis pipeline that generates high-quality document-KG pairs through systematic chunking, decontextualization, and structured extraction using LLMs. By fine-tuning a smaller LLM on synthesized document-KG pairs, we streamline the multi-step process into a single-step KG generation approach called Distill-SynthKG. Furthermore, we repurpose existing question-answering datasets to construct KG evaluation datasets and introduce new evaluation metrics. Using KGs produced by Distill-SynthKG, we also design a novel graph-based retrieval framework for RAG. Experimental results demonstrate that Distill-SynthKG not only surpasses all baseline models in KG quality (including models up to eight times larger) but also consistently improves in retrieval and question-answering tasks. Additionally, our proposed graph retrieval framework outperforms all KG-retrieval methods across multiple benchmark datasets.
Sketching, Moment Estimation, and the Lévy-Khintchine Representation Theorem
Venue: arXiv cs.DS 2026
Year: 2026

In the $d$-dimensional turnstile streaming model, a frequency vector $\mathbf{x}=(\mathbf{x}(1),\ldots,\mathbf{x}(n))\in (\mathbb{R}^d)^n$ is updated entry-wisely over a stream. We consider the problem of $f$-moment estimation for which one wants to estimate $$f(\mathbf{x})=\sum_{v\in[n]}f(\mathbf{x}(v))$$ with a small-space sketch. In this work we present a simple and generic scheme to construct sketches with the novel idea of hashing indices to Lévy processes, from which one can estimate the $f$-moment $f(\mathbf{x})$ where $f$ is the characteristic exponent of the Lévy process. The fundamental Lévy-Khintchine representation theorem completely characterizes the space of all possible characteristic exponents, which in turn characterizes the set of $f$-moments that can be estimated by this generic scheme. The new scheme has strong explanatory power. It unifies the construction of many existing sketches and it implies the tractability of many nearly periodic functions that were previously unclassified. Furthermore, the scheme can be conveniently generalized to multidimensional cases ($d\geq 2$) by considering multidimensional Lévy processes and can be further generalized to estimate heterogeneous moments by projecting different indices with different Lévy processes. We conjecture that the set of tractable functions can be characterized using the Lévy-Khintchine representation theorem via what we called the Fourier-Hahn-Lévy method.
Relaxed Equivariance via Multitask Learning
Venue: arXiv cs.LG 2026
Year: 2026

Incorporating equivariance as an inductive bias into deep learning architectures to take advantage of the data symmetry has been successful in multiple applications, such as chemistry and dynamical systems. In particular, roto-translations are crucial for effectively modeling geometric graphs and molecules, where understanding the 3D structures enhances generalization. However, strictly equivariant models often pose challenges due to their higher computational complexity. In this paper, we introduce REMUL, a training procedure that learns \emph{approximate} equivariance for unconstrained networks via multitask learning. By formulating equivariance as a tunable objective alongside the primary task loss, REMUL offers a principled way to control the degree of approximate symmetry, relaxing the rigid constraints of traditional equivariant architectures. We show that unconstrained models (which do not build equivariance into the architecture) can learn approximate symmetries by minimizing an additional simple equivariance loss. This enables quantitative control over the trade-off between enforcing equivariance constraints and optimizing for task-specific performance. Our method achieves competitive performance compared to equivariant baselines while being significantly faster (up to 10$\times$ at inference and 2.5$\times$ at training), offering a practical and adaptable approach to leveraging symmetry in unconstrained architectures.
Arbitrary-arity Tree Automata and QCTL
Venue: arXiv cs.LO 2026
Year: 2026

We introduce a new class of automata (which we coin EU-automata) running on infininte trees of arbitrary (finite) arity. We develop and study several algorithms to perform classical operations (union, intersection, complement, projection, alternation removal) for those automata, and precisely characterise their complexities. We also develop algorithms for solving membership and emptiness for the languages of trees accepted by EU-automata. We then use EU-automata to obtain several algorithmic and expressiveness results for the temporal logic QCTL (which extends CTL with quantification over atomic propositions) and for MSO. On the one hand, we obtain decision procedures with optimal complexity for QCTL satisfiability and model checking; on the other hand, we obtain an algorithm for translating any QCTL formula with k quantifier alternations to formulas with at most one quantifier alternation, at the expense of a $(k + 1)$-exponential blow-up in the size of the formulas. Using the same techniques, we prove that any MSO formula can be translated into a formula with at most four quantifier alternations (and only one second-order-quantifier alternation), this time with a $(k + 2)$-exponential blow-up in the size of the formula.
RARe: Retrieval Augmented Retrieval with In-Context Examples
Venue: arXiv cs.CL 2026
Year: 2026

While in-context learning is well-studied with decoder-only language models (LLMs), its utility for encoder-only models remains underexplored. We study in-context learning for encoder-only models for text retrieval tasks. Can incorporating in-context examples (query-document pairs) to the target query enhance retriever performance? Our approach, RARe, finetunes a pre-trained model with in-context examples whose query is semantically similar to the target query. This approach achieves performance gains of up to +2.72% nDCG across open-domain retrieval datasets (BeIR, RAR-b) compared to using the target query only as an input. In particular, we find RARe exhibits stronger out-of-domain generalization compared to models using queries without in-context examples, similar to what is seen for in-context learning in LLMs. We further provide analysis on the design choices of in-context example augmentation for retrievers and lay the foundation for future work.
Goal Hijacking Attack on Large Language Models via Pseudo-Conversation Injection
Venue: arXiv cs.CL 2026
Year: 2026

Goal hijacking is a type of adversarial attack on Large Language Models (LLMs) where the objective is to manipulate the model into producing a specific, predetermined output, regardless of the user's original input. In goal hijacking, an attacker typically appends a carefully crafted malicious suffix to the user's prompt, which coerces the model into ignoring the user's original input and generating the target response. In this paper, we introduce a novel goal hijacking attack method called Pseudo-Conversation Injection, which leverages the weaknesses of LLMs in role identification within conversation contexts. Specifically, we construct the suffix by fabricating responses from the LLM to the user's initial prompt, followed by a prompt for a malicious new task. This leads the model to perceive the initial prompt and fabricated response as a completed conversation, thereby executing the new, falsified prompt. Following this approach, we propose three Pseudo-Conversation construction strategies: Targeted Pseudo-Conversation, Universal Pseudo-Conversation, and Robust Pseudo-Conversation. These strategies are designed to achieve effective goal hijacking across various scenarios. Our experiments, conducted on two mainstream LLM platforms including ChatGPT and Qwen, demonstrate that our proposed method significantly outperforms existing approaches in terms of attack effectiveness.
Class Incremental Learning with Task-Specific Batch Normalization and Out-of-Distribution Detection
Venue: arXiv cs.LG 2026
Year: 2026

This study focuses on incremental learning for image classification, exploring how to reduce catastrophic forgetting of all learned knowledge when access to old data is restricted. The challenge lies in balancing plasticity (learning new knowledge) and stability (retaining old knowledge). Based on whether the task identifier (task-ID) is available during testing, incremental learning is divided into task incremental learning (TIL) and class incremental learning (CIL). The TIL paradigm often uses multiple classifier heads, selecting the corresponding head based on the task-ID. Since the CIL paradigm cannot access task-ID, methods originally developed for TIL require explicit task-ID prediction to bridge this gap and enable their adaptation to the CIL paradigm. {In this study, a novel continual learning framework extends the TIL method for CIL by introducing out-of-distribution detection for task-ID prediction. Our framework utilizes task-specific Batch Normalization (BN) and task-specific classification heads to effectively adjust feature map distributions for each task, enhancing plasticity. With far fewer parameters than convolutional kernels, task-specific BN helps minimize parameter growth, preserving stability. Based on multiple task-specific classification heads, we introduce an ``unknow'' class for each head. During training, data from other tasks are mapped to this unknown class. During inference, the task-ID is predicted by selecting the classification head with the lowest probability assigned to the unknown class. Our method achieves state-of-the-art performance on two medical image datasets and two natural image datasets. The source code is available at https://github.com/z1968357787/mbn_ood_git_main.
Scalable Message Passing Neural Networks: No Need for Attention in Large Graph Representation Learning
Venue: arXiv cs.LG 2026
Year: 2026

We propose Scalable Message Passing Neural Networks (SMPNNs) and demonstrate that, by integrating standard convolutional message passing into a Pre-Layer Normalization Transformer-style block instead of attention, we can produce high-performing deep message-passing-based Graph Neural Networks (GNNs). This modification yields results competitive with the state-of-the-art in large graph transductive learning, particularly outperforming the best Graph Transformers in the literature, without requiring the otherwise computationally and memory-expensive attention mechanism. Our architecture not only scales to large graphs but also makes it possible to construct deep message-passing networks, unlike simple GNNs, which have traditionally been constrained to shallow architectures due to oversmoothing. Moreover, we provide a new theoretical analysis of oversmoothing based on universal approximation which we use to motivate SMPNNs. We show that in the context of graph convolutions, residual connections are necessary for maintaining the universal approximation properties of downstream learners and that removing them can lead to a loss of universality.
LIBMoE: A Library for comprehensive benchmarking Mixture of Experts in Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Mixture of experts (MoE) architectures have become a cornerstone for scaling up and are a key component in most large language models such as GPT-OSS, DeepSeek-V3, Llama-4, and Gemini-2.5. However, systematic research on MoE remains severely constrained by the prohibitive computational costs of training and evaluation, restricting large-scale studies accessible to most researchers. We introduce LibMoE, a unified framework for reproducible, efficient, and extensible MoE research that supports both pretraining and sparse-upcycling regimes. Beyond unified implementations, the framework provides transparent analytical tools for probing routing and expert dynamics. Leveraging this foundation, we conduct a comprehensive analysis along three dimensions: (i) routing dynamics, covering expert selection patterns, routing stability and optimality, and how routing entropy reveals task specialization and expert diversity; (ii) the effect of lightweight initialization on load balancing, demonstrating how subtle changes in router initialization shape early expert utilization; and (iii) training regime differences, revealing how sparse upcycling and full pretraining exhibit distinct routing patterns and stability profiles. By lowering the barrier to entry and standardizing evaluation, along with our comprehensive analysis, LibMoE broadens access to MoE research and establishes a reliable benchmark to guide future innovations. GitHub: \href{https://github.com/Fsoft-AIC/LibMoE}{https://github.com/Fsoft-AIC/LibMoE}.
Towards a valid bibliometric measure of epistemic breadth of researchers
Venue: arXiv cs.DL 2026
Year: 2026

The concept of epistemic breadth of the work of a researcher refers to the scope of their knowledge claims, as reflected in published research reports. Studies of epistemic breadth have been hampered by the lack of a validated measure of the concept. Here we introduce a knowledge space approach to the measurement of epistemic breadth and propose to use the semantic similarity network of an author's publication record to operationalize a measure. In this approach, each paper has its own location in a common abstract vector space based on its content. Proximity in knowledge space corresponds to thematic similarity of publications. Candidate measures of epistemic breadth derived from aggregate similarity values of researchers' bodies of work are tested against external validation data of researchers known to have made a major change in research topic and against self-citation data. We find that some candidate measures co-vary well with known epistemic breadth of researchers in the empirical data and can serve as valid indicators of the concept.
Imagining and building wise machines: The centrality of AI metacognition
Venue: arXiv cs.AI 2026
Year: 2026

Although AI has become increasingly smart, its wisdom has not kept pace. In this article, we examine what is known about human wisdom and sketch a vision of its AI counterpart. We analyze human wisdom as a set of strategies for solving intractable problems-those outside the scope of analytic techniques-including both object-level strategies like heuristics [for managing problems] and metacognitive strategies like intellectual humility, perspective-taking, or context-adaptability [for managing object-level strategies]. We argue that AI systems particularly struggle with metacognition; improved metacognition would lead to AI more robust to novel environments, explainable to users, cooperative with others, and safer in risking fewer misaligned goals with human users. We discuss how wise AI might be benchmarked, trained, and implemented.
Dual-Scale Channel Estimation in Sensing-Assisted Communication Systems: Joint Time Allocation and Beamforming Design
Venue: arXiv cs.IT 2026
Year: 2026

In this paper, we propose a novel integrated sensing and communication (ISAC)-enabled dual-scale channel estimation framework, where large-scale channel estimation benefits from sensing, and the temporal variation of small-scale channel state information is modeled via channel aging. By characterizing the impact of angular sensing error on the communication spatial correlation matrix, we derive a closed form expression for the achievable rate under dual-scale channel estimation errors. Considering the different characteristics in time scales, we design the sensing duration for slow-varying large-scale channel and determine the update timing and frequency for fast-varying small-scale channel information within a given frame structure. We formulate an average achievable rate maximization problem under limited time resources and sensing Cramer-Rao bound (CRB) constraints, and propose a segmented golden based joint optimization algorithm to efficiently solve this nonconvex problem. Simulation results demonstrate that our proposed scheme achieves significant performance improvement compared with the benchmark schemes, which further validate that the system can leverage additional sensing capabilities to enhance communication efficiency.
Nearly-Linear Time Seeded Extractors with Short Seeds
Venue: arXiv cs.CC 2026
Year: 2026

Seeded extractors are fundamental objects in pseudorandomness and cryptography, and a deep line of work has designed polynomial-time seeded extractors with nearly-optimal parameters. However, existing constructions of seeded extractors with short seed length and large output length run in time $Ω(n \log(1/\varepsilon))$ and often slower, where $n$ is the input source length and $\varepsilon$ is the error of the extractor. Since cryptographic applications of extractors require $\varepsilon$ to be small, the resulting runtime makes these extractors impractical. Motivated by this, we explore constructions of strong seeded extractors with short seeds computable in nearly-linear time $O(n \log^c n)$, for any error $\varepsilon$. We show that an appropriate combination of modern condensers and classical approaches for constructing seeded extractors for high min-entropy sources yields such extractors. More precisely, we obtain strong extractors for $n$-bit sources with any min-entropy $k$ and any target error $\varepsilon$ with seed length $d=O(\log(n/\varepsilon))$ and output length $m=(1-η)k$ for an arbitrarily small constant $η>0$, running in nearly-linear time. When $k$ or $\varepsilon$ are very small, our construction requires a reasonable one-time preprocessing step. These extractors directly yield privacy amplification protocols with nearly-linear time complexity (possibly after a one-time preprocessing step), large output length, and low communication complexity. As a second contribution, we give an instantiation of Trevisan's extractor that can be evaluated in truly linear time in the RAM model, as long as the number of output bits is at most $\frac{n}{\log(1/\varepsilon)polylog(n)}$. Previous fast implementations of Trevisan's extractor ran in $\widetilde{O}(n)$ time in this setting.
ExpressivityBench: Can LLMs Communicate Implicitly?
Venue: arXiv cs.CL 2026
Year: 2026

Human communication is often implicit, conveying tone, identity, and intent beyond literal meanings. While large language models have achieved strong performance on explicit tasks such as summarization and reasoning, their capacity for expressivity, or implicit communication, remains underexplored. We introduce \textbf{ExpressivityBench}, a framework for evaluating the expressivity of LLMs using information-theoretic communication models. Our approach quantifies how well LLM-generated text communicates target properties without explicit mention, across nine tasks spanning emotion, identity, and tone. To enable scalable and reproducible evaluation, we employ LLM-based graders validated against human judgments. Our results reveal that while models are adept at expressing affective content, they struggle with sociolinguistic signals, lagging behind human baselines. This study provides a necessary step to evaluate human-like implicit communication, with implications for applications such as education, mental health support, and socially-aware dialogue systems. We provide code and data for our benchmark alongside our paper.
CropCraft: Complete Structural Characterization of Crop Plants From Images
Venue: arXiv cs.CV 2026
Year: 2026

The ability to automatically build 3D digital twins of plants from images has countless applications in agriculture, environmental science, robotics, and other fields. However, current 3D reconstruction methods fail to recover complete shapes of plants due to heavy occlusion and complex geometries. In this work, we present a novel method for 3D modeling of agricultural crops based on optimizing a parametric model of plant morphology via inverse procedural modeling. Our method first estimates depth maps by fitting a neural radiance field and then optimizes a specialized loss to estimate morphological parameters that result in consistent depth renderings. The resulting 3D model is complete and biologically plausible. We validate our method on a dataset of real images of agricultural fields, and demonstrate that the reconstructed canopies can be used for a variety of monitoring and simulation applications.